diff options
Diffstat (limited to 'scripts/motan/readlog.py')
| -rw-r--r-- | scripts/motan/readlog.py | 44 |
1 files changed, 44 insertions, 0 deletions
diff --git a/scripts/motan/readlog.py b/scripts/motan/readlog.py index 68f460be..476abbee 100644 --- a/scripts/motan/readlog.py +++ b/scripts/motan/readlog.py @@ -232,6 +232,50 @@ class HandleStepQ: step_data.append((step_time, step_halfpos, step_pos)) LogHandlers["stepq"] = HandleStepQ +# Extract accelerometer data +class HandleADXL345: + SubscriptionIdParts = 2 + ParametersMin = ParametersMax = 2 + DataSets = [ + ('adxl345(<name>,<axis>)', 'Accelerometer for given axis (x, y, or z)'), + ] + def __init__(self, lmanager, name, name_parts): + self.name = name + self.adxl_name = name_parts[1] + self.jdispatch = lmanager.get_jdispatch() + self.next_accel_time = self.last_accel_time = 0. + self.next_accel = self.last_accel = (0., 0., 0.) + self.cur_data = [] + self.data_pos = 0 + if name_parts[2] not in 'xyz': + raise error("Unknown adxl345 data selection '%s'" % (name,)) + self.axis = 'xyz'.index(name_parts[2]) + def get_label(self): + label = '%s %s acceleration' % (self.adxl_name, 'xyz'[self.axis]) + return {'label': label, 'units': 'Acceleration\n(mm/s^2)'} + def pull_data(self, req_time): + axis = self.axis + while 1: + if req_time <= self.next_accel_time: + adiff = self.next_accel[axis] - self.last_accel[axis] + tdiff = self.next_accel_time - self.last_accel_time + rtdiff = req_time - self.last_accel_time + return self.last_accel[axis] + rtdiff * adiff / tdiff + if self.data_pos >= len(self.cur_data): + # Read next data block + jmsg = self.jdispatch.pull_msg(req_time, self.name) + if jmsg is None: + return 0. + self.cur_data = jmsg['data'] + self.data_pos = 0 + continue + self.last_accel = self.next_accel + self.last_accel_time = self.next_accel_time + self.next_accel_time, x, y, z = self.cur_data[self.data_pos] + self.next_accel = (x, y, z) + self.data_pos += 1 +LogHandlers["adxl345"] = HandleADXL345 + ###################################################################### # Log reading |